Articulating basket with simultaneous basket extension or basket retraction

ABSTRACT

A retrieval device is provided for retrieving stones, calculi, and other objects from a body. The device allows for a retrieval basket to be articulated and extended simultaneously. The device also allows for the basket to be articulated and retracted simultaneously.

RELATED APPLICATIONS

The present patent document claims the benefit of priority and thefiling date under 35 U.S.C. §119(e) of Provisional U.S. PatentApplication Ser. No. 60/732,929, filed Nov. 3, 2005, which is herebyincorporated by reference in its entirety.

FIELD OF THE INVENTION

This invention relates to medical retrieval devices used in minimallyinvasive surgery, particularly those used to retrieve stones and calculifrom a patient.

BACKGROUND OF THE INVENTION

Stone retrieval devices are often employed in order to remove a stonefrom a ureter or kidney. Removal of a stone from a ureter or kidney is adifficult process because the area within which the medical professionalworks is small and narrow. Often a stone is not located directly infront of the retrieval basket. The location of the stone makes itdifficult to retrieve. In an attempt to retrieve the object, the medicalprofessional will attempt to bend the basket, causing the basket tobend-over partially onto itself. This movement will allow one side ofthe basket to expand and be more open than the opposite side. When thebasket is at least partially bent-over on itself, the medicalprofessional will attempt to maneuver the basket so that it encapsulatesthe object. However, the basket cannot be extended or retracted whilebent. Thus, stones that are not directly in front of the device cannotbe easily captured.

The medical professional has little control of the basket because thebasket cannot be bent while being extended or retracted. Thus, duringthe interim period between when the basket surrounds the stone and whenthe basket is retracted, the stone can shift, move, or dislodge, makingthe capture attempt a failure, causing the medical professional to startthe procedure over.

BRIEF SUMMARY OF THE INVENTION

A medical device is provided. The device includes a body, an articulatormovably connected to the body, and at least a first and a second wirehaving distal ends. The first and second wire is in communication withthe articulator. The device further includes a tool disposed at thedistal end of the first and second wire, wherein the articulator iscapable of moving the tool outside the longitudinal plane, and whereinthe tool is capable of being extended and retracted in a longitudinalplane simultaneously with movement outside the longitudinal plane.

Further, a medical device is provided. The device includes a body, aslide assembly slideably attached to the body, and an articulatorrotateably attached to the body. The articulator is in communicationwith the slide assembly. The device further includes a first wire and asecond wire having distal ends, wherein the first wire and the secondwire are attached to the articulator. The device further includes a tooldisposed at the distal ends of the first and second wires, wherein thearticulator is configured to move the tool outside a longitudinal plane,and wherein the slide assembly is configured to extend and retract thefirst and second wires.

Further, a medical device is provided. The device includes a tool formedby at least one wire. The device further includes means for extending orretracting the tool and simultaneously articulating the tool in a planeoutside a longitudinal plane.

Further, a method for retrieving an object is provided. The methodincludes inserting a device for removing an object into a patient,extending a tool of the device out to the object, and articulating thetool to encapsulate the object. The method further includes retractingthe tool to retrieve the object, wherein the extending and thearticulating are capable of being performed simultaneously or thearticulating and the retracting are capable of being performedsimultaneously.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

The embodiments will be further described in connection with theattached drawing figures. It is intended that the drawings included as apart of this specification be illustrative of the embodiments and shouldin no way be considered as a limitation on the scope of the invention.

FIGS. 1A, 1B-1C show partial cross-sectional views of an embodiment ofthe device;

FIG. 1D shows a partial plan view of an embodiment of the device;

FIG. 1E shows a partial cross-sectional view of an embodiment of thedevice;

FIG. 2 is an isometric view of the an embodiment of the device;

FIG. 3 is an isometric view of an embodiment of the device;

FIGS. 4, and 4A show partial cross-sectional views of the proximalportion of embodiments of the device;

FIGS. 5 and 5A-5C show partial cross-sectional views of the proximalportion of embodiments of the device;

FIGS. 6, and 6A show partial cross-sectional views of the proximalportion of embodiments of the device;

FIGS. 7A-7E are isometric views of pivot pins of embodiments of thedevice;

FIGS. 8A-8B are isometric views of the proximal portion of embodimentsof the device;

FIGS. 9A-9C are isometric views of grasping wire restraint disks ofembodiments of the device;

FIG. 10 is an isometric view of a sheath of an embodiment of the device;

FIG. 10A is a cross-sectional view of FIG. 10 at line 10A;

FIG. 10B-10C are isometric views of a sheath of embodiments of thedevice;

FIG. 11 is a close-up view of the distal portion of an embodiment of thedevice;

FIG. 12 is a close-up view of the distal portion of an embodiment of thedevice;

FIG. 13 is a close-up view of the distal portion of an embodiment of thedevice;

FIG. 14A is a perspective view of the distal portion of an embodiment ofthe device;

FIGS. 14B-14D are frontal views of the distal portion of embodiments ofthe device; and

FIGS. 15-18 depict another embodiment of the device.

DETAILED DESCRIPTION OF PRESENTLY PREFERRED EMBODIMENTS

The device provides a way to simultaneously articulate and extend aretrieval basket and also to simultaneously articulate and retract thebasket for retrieving stones, calculi, and other objects from a patient.The use of the device is not limited to use in human patients; thedevice has veterinary and non-medical uses including but not limited toretrieving objects from any hard-to-reach area. A more detaileddescription of the embodiments will now be given with reference to FIGS.1-18. The present invention is not limited to those embodimentsillustrated; it specifically contemplates other embodiments notillustrated but intended to be included in the claims.

FIGS. 1A, 1B, 1C, and 1D depict partial cross-sectional views of anembodiment of the device. Retrieval device 10 has a proximal portion 10a and a distal portion 10 b. FIGS. 1B and 1C are cross-sectionals ofproximal portion 10 a of retrieval device 10 shown in FIG. 1A. FIG. 1Cis a perspective view of proximal portion 10 a of retrieval device 10shown in FIG. 1A. Located at distal portion are two grasping wires 11 aand 11 b that travel through a lumen 15 a extending through the sheath15. Although two grasping wires are depicted, it is contemplated that agreater or lesser amount of grasping wires can be used. Furthermore, itis contemplated that one continuous wire could also be used.

The use of the word “wire” is not intended to be limiting. Throughoutthe disclosure, grasping wires may be made from stainless steel but arepreferably made from a shape memory alloy, including but not limited toNitinol. Nitinol is available from Memry Corp of Bethel, Conn. and fromother suppliers. Grasping wires can also be made from othersemi-flexible materials, including but not limited to nylon, plastic, aswell as a shape memory polymer. Shape memory polymers are disclosed inU.S. Pat. No. 6,720,402 which is hereby incorporated by reference in itsentirety. Grasping wires may also include, but are not limited to,filaments or threads. Grasping wires preferably have a diameter of0.005-0.009 inches; however, the diameter of grasping wires is notlimited to those dimensions. Grasping wires may be larger or smallerdepending on the need. Grasping wires are preferably round or flat,however other shapes can be used, such as the near-triangular pre-shapedDelta Wire available from Cook Urological, Spencer, Ind.

At distal portion 10 b of retrieval device 10 is a grasping wireconnection point 18, which is preferably atraumatic and is used toconnect grasping wires 11 a, 11 b so that they come together in theshape of a basket to keep grasping wires 11 a, 11 b constrainedtogether. Grasping wires 11 a, 11 b may be looped together as shown hereto form grasping wire connection point 18, but the connection ofgrasping wires 11 a, 11 b is not limited to just a loop. Looping ofwires is disclosed in U.S. Pat. No. 5,989,266 which is herebyincorporated by reference in its entirety.

Grasping wire restraint disk 16 is located within sheath 15 and can beheld in place by ways including but not limited to, gluing, soldering,or sewing into place. Grasping wire restraint disk 16 is used to keepgrasping wires 11 a, 11 b separated once they enter sheath 15. Graspingwire restraint disk 16 can be made from any medically-acceptablematerial, including but not limited to, polycarbonate, stainless steel,nylon, other metals, and plastics.

Sheath 15 protects grasping wires 11 a, 11 b from becoming tangled andcontrols their interaction with the patient. Sheath 15 is preferablymade from PVC, but can also be made from materials including, but notlimited to, polytetrafluoroethylene (PTFE), polyimide, nylon,polyurethane, polyethylene, or any polymer or semi-flexible metal.Sheath 15 preferably has an outer diameter of 1.5-4.5 Fr., althoughother sizes can be used and the size should be suitable for insertionthrough an orifice. The outer diameter of sheath 15 is generally basedon the size of the orifice through which it will be introduced.

The articulator 13 houses pivot pins 14 a, 14 b, and 14 c which can bemade from many materials, including but not limited to, stainless steel,medically-acceptable polymers, and metals. Articulator 13 can be madefrom many materials, including but not limited to, rigid nylon,stainless steel, acrylonitrile-butadiene-styrene (ABS) and othermedically acceptable polymers and metals. Sheath connection point 17 dof body 17 is threaded so that sheath 15 can connect to body 17. Wires11 a, 11 b travel through sheath connection point 17 d, into body 17,through lumen 17 b of body 17, and out through windows 17 c intoarticulator 13. Pivot pin 14 c travels through articulator 13 andthrough body 17. Pivot pin 14 c allows articulator 13 to have tiltingsee-saw movement on either side of transverse axis X-X articulatingbasket B. Although a basket is depicted, the use of other tools iscontemplated including other grasping and sampling devices.Additionally, the wires need not be continuous with the tool, nor do thewires and the tool need to be made from the same material. Pivot pins 14a, 14 b, and 14 c are configured in a triangle-shape.

First grasping wire 11 a is shown pulled through lumen 15 a of sheath15, into sheath connection point 17 d, into lumen 17 b of body 17, outthrough windows 17 c and around pivot pin 14 c where it is attached topivot pins 14 a and 14 b. Second grasping wire 11 b is attached directlyto third pivot pin 14 c.

The configuration of pivot pins 14 a, 14 b, 14 c allows the user toarticulate basket B from side-to-side, making basket B tilt on its sidealong transverse axis X-X enabling basket B to grasp an object that maynot be directly in-line with basket B. Therefore, articulating basket Ballows for basket B to move in a plane in addition outside thelongitudinal access.

Furthermore, articulator 13 can move longitudinally along axis Y-Y ofbody 17 which in turn retracts or extends basket B. Thus, articulator 13translates relative to body 17; body 17 is stationary with respect toarticulator 13 when a thumb (not shown) or other stationary object (notshown) is placed within thumb hole 17 a. Two springs 17 f sit withinbody 17 and are in communication with articulator 13 and body 17.Springs are made from stainless steel, although they can be made fromany other material so long as they generate an acceptable force to pusharticulator 13 distally in order to extend basket B. Springs 17 fprovided resistance against pivot pin 14 c which is attached toarticulator 13. Thus, when fingers (not shown) apply pressure intoeither finger groove 12 a, 12 b and articulator 13 is pulled in theproximal direction, springs 17 f are compressed and basket B isretracted. When compression is released from finger groove 12 a, 12 b,springs 17 f are also released and will push articulator 13 in thedistal direction, thus extending basket B.

To articulate basket B, the user tilts articulator 13 on either side oftransverse axis X-X by pressing a finger (not shown) down into one ofthe finger grooves 12 a, 12 b. Tilting articulator 13 in the directionof finger groove 12 a will articulate basket B in the direction offinger groove 12 a. Similarly, tilting articulator 13 in the directionof finger groove 12 b will articulate basket B in the direction offinger groove 12 b.

While basket B is being articulated, the user can retract basket B byplacing a thumb or finger (not shown) in the thumb-hole 17 a and usingfingers (not shown) placed in finger grooves 12 a, 12 b to pullarticulator 13 proximally along longitudinal axis Y-Y compressingsprings 17 f. This moves the entire articulator 13 proximally, and thus,moves pivots pins 14 a, 14 b, and 14 c proximally as well. The proximalmovement pulls the respective grasping wires 11 a, 11 b proximally andretracts basket B. While retracting basket B, the user can articulatebasket B by tilting articulator 13 on either side of transverse axis X-Xby placing pressure into either finger groove 12 a, 12 b.

Furthermore, while basket B is being articulated, the user can alsoextend basket B by releasing the compression on finger grooves 12 a, 12b, which releases springs 17 f so that they push articulator 13 in thedistal direction along longitudinal axis Y-Y. This moves the entirearticulator 13 distally, and thus, moves pivots pins 14 a, 14 b, and 14c distally as well. The distal movement pushes the respective graspingwires 11 a, 11 b distally and extends basket B. While extending basketB, the user can articulate basket B by tilting articulator 13 on eitherside of transverse axis X-X by placing pressure into either fingergroove 12 a, 12 b.

FIG. 1E shows a different embodiment from that shown in FIG. 1A. Theembodiment shown in FIG. 1E needs no springs since finger holes 12 c, 12d are provided. Thus, when a user places fingers (not shown) withinfinger holes 12 c, 12 d, the user is able to move articulator 13 in thedistal direction along longitudinal axis Y-Y without the aid of aspring. Further embodiments are shown in FIGS. 2-14D.

FIG. 2 is an isometric view of an embodiment of the device. Sheath 25 isconnected to body 27 at threaded sheath connection point 27 d ofretrieval device 20. Basket B enters sheath 25 through grasping wirerestraint disk 26. Articulator 23 is shown pushed in the distaldirection along longitudinal axis Y-Y and tilted to the right-side oftransverse axis X-X. Articulator 23 is moveable along axis Y-Y in thedirection of the proximal portion 20 a or distal portion 20 b ofretrieval device 20 when a user pulls or releases articulator 23, whichresults in springs 27 f being compressed or released resulting in basketB being retracted or extended.

Retrieval device 20 is introduced into a ureter U through a functionallumen of an endoscope (not shown), or an access sheath, or other device.After introduction into the patient, retrieval device 20 is advanced tostone S. Here stone S is shown abutted to ledge L of ureter U, and thus,is not directly in front of basket B. When articulator 23 is pulledproximally, springs 27 f are compressed and basket B retracts. Asarticulator 23 is released, springs 27 f are released causingarticulator 23 to move distally along axis Y-Y, as shown, basket Bextends. A first finger F1 is located in a first finger groove 22 a, asecond finger F2 is located in a second finger groove 22 b, and a thumbT is located in thumb hole 27 a. While extending basket B, second fingerF2 is pressing and tilting articulator 23 so that articulator 23 tiltsalong axis X-X, via pivot pin 27 c. This causes basket B to articulatewhile simultaneously moving articulator 23 distally along longitudinalaxis Y-Y to extend basket B out to stone S to surround stone S. Here,basket B is shown extended and articulated after having just capturedstone S.

FIG. 3 is an isometric view of another embodiment of the device. Here,the basket B of the retrieval device 30 is shown extended andarticulated, having captured a stone S abutting a ledge L within aureter U. The sheath 35 is connected to body 37 at sheath connectionpoint 37 d. Basket B enters sheath 35 through grasping wire restraintdisk 36. Articulator 33 surrounds body 37. Articulator 33 haslongitudinal movement along longitudinal axis Y-Y. Furthermore,articulator 33 has tilting see-saw movement along either side oftransverse axis X-X due to the pivot pin 34 c that extends fromarticulator 33 through body 37. Articulator 33 moves in the direction ofthe proximal portion 30 a and distal portion 30 b of the retrievaldevice 30 when a user pulls and releases, respectively, articulator 33.Thus, body 37 remains stationary with respect to articulator 33 when athumb T is placed within the thumb-hole 37 a. When articulator 33 isreleased springs 37 f are released causing articulator 33 to move in thedistal direction (not shown), which causes basket B to extend. Asarticulator 33 is pulled proximally along axis Y-Y, as shown, springs 37f are compressed and basket B retracts. While retracting basket B, afirst finger F1 is located in a first finger groove 32 a and a secondfinger F2 is located in a second finger groove 32 b. First finger F1 ispressing and tilting articulator 33 so that articulator 33 tilts alongtransverse axis X-X causing basket B to articulate. Since basket B isarticulated and retracted simultaneously, it can be manipulated in asweeping motion to capture stone S.

FIGS. 4, 4A, 5, 5A, 5B, 5C, 6, and 6A each show partial cross-sectionalviews of the proximal portion of embodiments of the device. The figureseach show different configurations of the pivot pins housed within thearticulator, 43, 53, 63. In FIG. 4 the retrieval device 40 hasarticulator 43 that houses pivot pins 44 a, 44 b, 44 c. Each graspingwire 41 a, 41 b enter lumen 47 b of body 47 at the sheath connectionpoint 47 d. From there, grasping wires 41 a, 41 b travel through lumen47 b of body 47 and out through windows 47 c of body 47 into articulator43. Each grasping wire 41 a, 41 b loops around pins 44 a, 44 b. Pivotpin 44 c travels through articulator 43 and into body 47 to allow fortilting see-saw movement of articulator 43 which in turn articulates thebasket (not shown). Furthermore, articulator 43 is movably connected tobody 47 to allow for longitudinal movement which extends and retractsgrasping wires 41 a and 41 b attached to pivot pins 44 a, 44 b. Springs47 f are compressed when articulator 43 is pulled in the proximaldirection via finger grooves 42 a, 42 b and thumb hole 47 a whichretracts the basket (not shown). When springs 47 f are released theypush articulator 43 in the distal direction which extends the basket(not shown).

FIG. 4A is the same as FIG. 4, except that no springs are needed sincearticulator 43 has finger loops 42 c, 42 d that allow a user to push andpull articulator along longitudinal axis of body 47 in order to extendand retract the basket (not shown).

FIG. 5 shows another pivot pin—54 a, 54 b, 54 c—configuration housedwithin articulator 53 of retrieval device 50. Here, grasping wires 51 a,51 b each travel through lumen 57 b of body 57 at sheath connectionpoint 57 d, out through windows 57 c, and into articulator 53. Each endof grasping wires 51 a, 51 b are each attached to a pivot pin 54 a, 54b, located on either side of articulator 53. Pivot pin 54 c travelsthrough articulator 53 and into body 57 to allow for tilting see-sawmovement which in turn articulates basket (not shown). Furthermore,articulator 53 is movably connected to body 57 to allow for longitudinalmovement which extends and retracts grasping wires 51 a and 51 battached to pivot pins 54 a, 54 b. The greater the distance, the lesstilting see-saw movement of articulator 53 is required to articulate thebasket (not shown). Springs 57 f are compressed when articulator 53 ispulled in the proximal direction using finger grooves 52 a, 52 b, andthumb hole 57 a which retracts the basket (not shown). When springs 57 fare released they push articulator 53 in the distal direction whichextends the basket (not shown).

FIG. 5A is the same as FIG. 5, except that no springs are needed sincearticulator 53 has finger loops 52 c, 52 d that allow a user to push andpull articulator along the longitudinal axis of body 57 in order toextend and retract the basket (not shown).

FIG. 5B is the same as FIG. 5 except grasping wires 51 a and 51 b are ina different configuration. Here, each grasping wire 51 a, 51 b firstgoes around pin 54 c before connecting to pivot pins 54 a, 54 b.

FIG. 5C is the same as FIG. 5B, except that no springs are needed sincearticulator 53 has finger loops 52 c, 52 d that allow a user to push andpull articulator directly along a longitudinal axis of body 57 in orderto extend and retract the basket (not shown).

FIG. 6 shows yet another pivot pin configuration—64 a, 64 b, 64 c, 64 d,64 e—housed within articulator 63 of retrieval device 60. Grasping wires61 a, and 61 b enter body 67 at sheath connection point 67 d and travelthrough lumen 67 b of body 67. Grasping wires 61 a and 61 b then bothloop around fourth pivot pin 64 d, exit through window 67 c, and areattached to first pivot pin 64 a. Grasping wires 61 a and 61 b also bothloop around third pivot pin 64 c, exit through window 67 c, and then areattached to second pivot pin 64 d. Pivot point 64 e allows for thearticulator 63 to have tilting see-saw movement to allow the basket (notshown) to be articulated. Articulator 63 to move longitudinallyproximally and distally along longitudinal axis of body 67. Thisconfiguration allows for both pushing and pulling of the basket (notshown). Springs 67 f are compressed when articulator 63 is pulled in theproximal direction using finger grooves 62 a, 62 b, and thumb hold 67 awhich retracts the basket (not shown). When springs 67 f are releasedthey push articulator 63 in the distal direction which extends thebasket (not shown).

FIG. 6A is the same as FIG. 6, except that no springs are needed sincearticulator 63 has finger loops 62 c, 62 d that allow a user to push andpull articulator along longitudinal axis of body 67 in order to extendand retract the basket (not shown).

FIGS. 7A-7E are isometric views of pivot pins of embodiments of thedevice. In FIG. 7A, pivot pin 74 a is a nail-shaped pin having a head Hthat has a greater diameter than the body. This prevents grasping wire71 from slipping off of pivot pin 74 a when the basket (not shown) isarticulated, extended, and/or retracted.

FIG. 7B shows an alternate embodiment of pivot pin 74 b having an eye Ein which grasping wire 71 is threaded through to prevent it frombecoming detached from pivot pin 74 b when the basket (not shown) isarticulated, extended, and/or retracted.

FIG. 7C shows a pivot pin 74 c with an arch shape through which graspingwire 71 is threaded to prevent grasping wire 71 from becoming detachedfrom pivot pin 74 c when the basket (not shown) is articulated,extended, and/or retracted.

FIG. 7D shows a pivot pin 74 d having a “j” shape, an angular bend AB,and a head H that has a larger diameter than the body. Pivot pin 74 dkeeps grasping wire 71 in place when the basket (not shown) isarticulated, extended, and/or retracted.

FIG. 7E shows a pivot pin 74 e with grasping wire 71 attached to pivotpin 74 e by way of soldering.

FIGS. 8A and 8B are isometric views of the proximal portion ofembodiments of the device. In FIG. 8A the articulator 83 of retrievaldevice 80 has ergonomically-shaped finger grooves 82 a, 82 b andthumb-hole 87 a. The shape provides a comfortable fit for fingers F1, F2and thumb T. Grasping wires 81 a, 81 b enter body 87 at sheathconnection point 87 d, travel though lumen 87 b, and connect to pivotpins (now shown). Pivot pin 87 c allows articulator 83 to have tiltingsee-saw movement in order to allow for the basket (not shown) toarticulate. Basket (not shown) retraction occurs by moving articulator83 proximally along longitudinal axis of body 87 which compressessprings 87 f. Basket (not shown) extension occurs by releasingarticulator 83 which decompresses springs 87 f causing articulator 83 tomove along body 87.

FIG. 8B shows an alternate configuration of articulator 83 of retrievaldevice 80. Here, articulator 83 has ergonomically-shaped finger holes 82c, 82 d for fingers F1, F2. No springs are needed in this embodimentsince finger holes 82 c, 83 d allow the user to pull and pusharticulator 83 directly thus enabling basket (now shown) retraction andextension.

FIGS. 9A-9C are isometric views of grasping wire restraint disks. InFIG. 9A the grasping wire restraint disk 96 is shown having four guideholes 96 a for wires in the shape of a cross. Each grasping wire (notshown) is threaded through a single lumen 96 a of grasping wirerestraint disk 96.

FIG. 9B shows a grasping wire restraint disk 96 wherein four lumens arecreated with circular-shaped openings 96 b cut into grasping wirerestraint disk 96 creating four guide holes. Each of grasping wires (notshown) are threaded through a single lumen 96 b of grasping wirerestraint disk 96.

FIG. 9 c shows a grasping wire restraint disk 96 wherein grasping wires(not shown) are treaded through a single lumen 96 c.

FIG. 10 is an isometric view of an optional sheath for the retrievaldevice. Here, instead of maintaining grasping wire (not shown)separation by using a grasping wire restraint disk (not shown) thesheath 105 itself has four semi-circular lumens 105 a. A cross sectionof sheath 105 at line-10A is depicted in FIG. 10A. Each grasping wire(not shown) are threaded through a lumen 105 a of sheath 105 so that thegrasping wires (not shown) do not become tangled and stay separated asthey travel through sheath 105. FIG. 10B depicts an alternateconfiguration of circular-grasping wire lumens 105 b built into sheath105. FIG. 10C depicts an alternate configuration of a single circulargrasping wire lumen 105 c built into sheath 105.

FIG. 11 is a close-up view of the distal portion 110 b of an embodimentof retrieval device 110. Here, grasping wires 111 a, 111 b are connectedat grasping wire connection point 118 via a soldered point in order toform the top of basket B.

FIG. 12 is a view of the distal portion 120 b of retrieval device 120.Here, grasping wires 121 a, 121 b, are connected at grasping wireconnection point 128 via a grasping wire connection disk 128 a in orderto form the top of basket B. Grasping wire connection disk 128 a can bemade from many materials including polycarbonates, stainless steel,nylon, and polymers. Grasping wire connection disk 128 a contains fourholes 128 b through which grasping wires 121 a, 121 b are threaded.

FIG. 13 is a view of the distal portion 130 b of retrieval device 130.Here, grasping wires 131 a, 131 b are connected at grasping wireconnection point 138 via a loop-in-loop configuration in order to formthe top of basket B.

FIG. 14A is a perspective view of the distal portion of retrieval device140. Each grasping wire 141 a, 141 b is connected at a soldered graspingwire connection point 148 and then threaded into sheath 145. The netconfiguration of grasping wires 141 a, 141 b may enable better retrievalof smaller stones or calculi that could slip between the wires if therewere no net.

FIGS. 14B-14D are frontal views of retrieval device embodiments 140,180, 190. Each show grasping wire 141 a, 141 b connected at a solderedgrasping wire connection point 148. Each figure depicts a differentnet-configuration of wire fibers 141 c, 141 d, 141 e. Wire fiber 141 c,141 d, 141 e configurations are not limited to those depicted. Dependingon the shape of the object to be retrieved, different wire fiber 141 c,141 d, 141 e configurations may result in a better retrieval successrate of smaller stones (not shown), calculi (not shown), or otherobjects (not shown).

FIGS. 15-17 depict different views of another embodiment of the device.FIG. 15 is a side-view of a retrieval device 150 having a proximalportion 150 a and a distal portion 150 b. FIG. 16 is a partialcross-sectional view of retrieval device 150. FIG. 17 is an explodedview of articulator 162.

Body 157, and the components housed therein including an articulator 162and a slide assembly 161 depicted in FIGS. 16-17, can be made from manymaterials, including but not limited to, rigid nylon, stainless steel,acrylonitrile-butadiene-styrene (ABS) and other medically acceptablepolymers and metals. Body 157 is preferably a snap-fit housingconsisting of two pieces that house that components depicted in FIGS.16-17.

Distal portion of grasping wires come together to form a basket (notshown). Each of grasping wires 151 a and 151 b is disposed throughoptional sheath 105 and is connected to a wire pivot 153 a, 153 brespectively. Wire pivots 153 a, 153 b each have a male thread 155 a,155 b, respectively, that engages with female thread 156 a, 156 b,respectively, located on articulator drum 160. Articulator drum 160 hasa post 159 disposed therethrough. Articulator drum 160 is rotateablyattached to slide assembly 161 which is slideably attached to body 157and is held in place by each of anchors 158 a, 158 b that are fixedlyattached to post 159 and rotateably attached to body 157. Tilting lever154 from side to side causes post 159 and articulator drum 160 to rotatein the direction that lever 154 is pushed. Rotation of the drum 160 isnot limited to use of lever 154; the device can also be driven by a gearset, a wheel, or any device capable of causing rotation. As articulatordrum 160 is rotated, wire pivots 153 a, 153 b move opposite each otherin the proximal 150 a or distal 150 b direction causing each of wires151 a, 151 b to move in the direction that wire pivots 153 a, 153 bmove; accordingly, this movement causes the basket to articulate fromside to side. Pulling slide 152 in the proximal direction 150 a causesthe basket to retract because articulator drum 160 and its componentwire pivots 153 a, 153 b and grasping wires 151 a, 151 b are moved inthe proximal direction. Pushing slide 152 in the distal direction 150 bcauses the basket to extend because articulator drum 160 and itscomponent wire pivots 153 a, 153 b and grasping wires 151 a, 151 b aremoved in the distal direction. In addition, the basket can bearticulated by tilting lever 154 with finger F1 and simultaneouslyretracted or extended by moving slide 152 in the proximal 150 a ordistal 150 b direction with thumb T. The embodiments described are notlimited to the specific component parts herein named. For example thearticulating components could be made from a series of gears and/orwheels that are configured to articulate a basket. Additionally, not allcomponent parts are necessary, nor is it required that the componentparts be assembled in an identical fashion. For example, the locationsof lever 154 and slide 152 are not limited to that which is shown; bothmay be placed in alternate locations including the side of the retrievaldevice as depicted in FIG. 18, retrieval device 170. Additionally, wirepivots 153 a, 153 b may be configured so as to move along the samefemale thread 156 a, as depicted in FIG. 18.

To use a retrieval device having an articulating basket for removing anobject from a patient that is configured for simultaneous basketextension or basket retraction, the basket is inserted into the patientand is moved near an item to be removed from a patient, i.e. a calculus,stone, etc. The basket is extended out to the object to be removed. Theobject to be removed is captured by simultaneously articulating thebasket while extending or retracting the basket until the object iscaptured. The basket is then retracted and the device and object areremoved from the patient.

As is evident, the embodiments provide a very effective solution forremoval of stones, calculi, or other objects from a patient by a devicethat allows for simultaneous basket articulation and extension, and alsoprovides for simultaneous basket articulation and retraction.

The foregoing description and drawings are provided for illustrativepurposes only and are not intended to limit the scope of the inventiondescribed herein or with regard to the details of its construction andmanner of operation. It will be evident to one skilled in the art thatmodifications and variations may be made without departing from thespirit and scope of the invention. Changes in form and in the proportionof parts, as well as the substitution of equivalence, are contemplatedas circumstances may suggest and render expedience; although specificterms have been employed, they are intended in a generic and descriptivesense only and not for the purpose of limiting the scope of theinvention set forth in the following claims.

1-23. (canceled)
 24. A medical device, the device comprising: a body; anarticulator movably connected to the body; at least a first and a secondwire having distal ends; the first and second wire in communication withthe articulator; a tool disposed at the distal end of the first andsecond wire, wherein the articulator is capable of moving the tooloutside the longitudinal plane; and wherein the tool is capable of beingextended and retracted in a longitudinal plane simultaneously withmovement outside the longitudinal plane.
 25. The device according toclaim 24 wherein the tool is a basket, a grasping device, or a samplingdevice.
 26. The device according to claim 24 wherein the articulatorfurther comprises two finger grooves or two finger-holes.
 27. The deviceaccording to claim 24 wherein the articulator is movably connected tothe body via a pivot pin.
 28. The device according to claim 24 whereinthe articulator further comprises at least a first and a second pivotpin, wherein at least one wire is in communication with the first pivotpin or the second pivot pin.
 29. The device according to claim 24wherein the articulator further comprises at least a first and a secondpivot pin, wherein the first wire and the second wire are incommunication with the first pivot pin and the second pivot pin.
 30. Thedevice according to claim 24 wherein the articulator further comprises afirst pivot pin, a second pivot pint, and a third pivot pin; wherein thefirst wire is connected to the first pivot pin and the second pivot pin,and the second wire is connected to the third pivot pin.
 31. The deviceaccording to claim 24 further comprising a wire connection point;wherein the distal ends of the first wire and the second wire areconnected via a soldered point, a loop, or a connection disk.
 32. Thedevice according to claim 24 wherein the body further comprises an axiswhere along the articulator can move in a proximal and a distaldirection.
 33. The device according to claim 24 wherein the first andsecond wires further comprise wire fibers and the wire fibers are in anet-configuration.
 34. A method for retrieving an object, the methodcomprising: inserting a device for removing an object into a patient;extending a tool of the device out to the object; articulating the toolto encapsulate the object; and retracting the tool to retrieve theobject, wherein the extending and the articulating are capable of beingperformed simultaneously or the articulating and the retracting arecapable of being performed simultaneously.
 35. The method according toclaim 34, wherein the tool is a basket, a grasping device, or a samplingdevice.
 36. The method according to claim 34, wherein the tool isarticulated by an articulator moveably connected to the device.
 37. Themethod according to claim 36, wherein the articulator further comprisestwo finger grooves or two finger-holes.
 38. The method according toclaim 36 wherein the articulator is movably connected to the body via apivot pin.
 39. The method according to claim 36 wherein the articulatorfurther comprises at least a first and a second pivot pin, wherein atleast one wire is in communication with the first pivot pin or thesecond pivot pin.
 40. The method according to claim 36 wherein thearticulator further comprises at least a first and a second pivot pin,wherein the first wire and the second wire are in communication with thefirst pivot pin and the second pivot pin.
 41. The method according toclaim 36 wherein the articulator further comprises a first pivot pin, asecond pivot pint, and a third pivot pin; wherein the first wire isconnected to the first pivot pin and the second pivot pin, and thesecond wire is connected to the third pivot pin.
 42. A medical device,the device comprising: a body; an articulator movably connected to thebody, the articulator comprising at least a first and a second pivotpin, wherein the first wire and the second wire are in communicationwith the first pivot pin and the second pivot pin; at least a first anda second wire having distal ends; the first and second wire incommunication with the articulator; a sheath at least partially disposedabout the first and second wire; a tool disposed at the distal end ofthe first and second wire, wherein the articulator is capable of movingthe tool outside the longitudinal plane; and wherein the tool is capableof being extended and retracted in a longitudinal plane simultaneouslywith movement outside the longitudinal plane.
 43. The device accordingto claim 42 further comprising a wire connection point; wherein thedistal ends of the first wire and the second wire are connected via asoldered point, a loop, or a connection disk.